Systems and methods for calibrating deformable sensors

Abstract

Systems and methods for calibrating deformable sensors are disclosed. In one embodiment, a method of calibrating a deformable sensor includes capturing image data of the deformable sensor using an external image sensor, wherein the deformable sensor comprises a deformable membrane defining an enclosure that is configured to be filled with a medium. The method further includes comparing the image data of the deformable sensor to a metric. When the image data does not satisfy the metric, the method includes adjusting a pressure within the enclosure.

The invention claimed is: 
     
       1. A method of calibrating a deformable sensor, the method comprising:
 capturing image data of the deformable sensor using an external image sensor, wherein the deformable sensor comprises a deformable membrane defining an enclosure that is configured to be filled with a medium, and the deformable membrane comprises a filter layer on a surface of the deformable membrane configured to assist in detection of a deformation of the deformable membrane; 
 comparing the image data of the deformable sensor to a metric to generate a similarity value defining a degree of a difference between the deformable membrane in the image data and a geometry of the deformable membrane corresponding to the metric; and 
 adjusting a pressure within the enclosure based on the similarity value. 
 
     
     
       2. The method of  claim 1 , wherein the deformable sensor further comprises an optical sensor disposed within the enclosure and having a field of view configured to be directed toward a bottom surface of the deformable membrane. 
     
     
       3. The method of  claim 1 , wherein:
 comparing the image data of the deformable sensor comprises determining a geometry of the deformable membrane based on the image data; and 
 the metric is satisfied when the geometry of the deformable membrane is within a threshold tolerance of an ideal geometry. 
 
     
     
       4. The method of  claim 3 , wherein:
 when the geometry of the deformable membrane is larger than the ideal geometry, adjusting of the pressure within the enclosure comprises decreasing the pressure; and 
 when the geometry of the deformable membrane is smaller than the ideal geometry, adjusting the pressure within the enclosure comprises increasing the pressure. 
 
     
     
       5. The method of  claim 1 , wherein the external image sensor comprises a depth sensor. 
     
     
       6. The method of  claim 1 , wherein the comparing of the image data of the deformable sensor to the metric comprises applying an image similarity algorithm. 
     
     
       7. The method of  claim 1 , further comprising, using the image data, detecting at least one of a type of an object, a geometry of the object and a pose of the object. 
     
     
       8. A system comprising:
 a deformable sensor comprising a deformable membrane defining an enclosure that is configured to be filled with a medium, and the deformable membrane comprises a filter layer on a surface of the deformable membrane configured to assist in detection of a deformation of the deformable membrane; 
 an external image sensor external to the deformable sensor; 
 a processor; and 
 a non-transitory computer readable medium storing instructions that, when executed by the processor, causes the processor to: 
 capture image data of the deformable sensor using the external image sensor; 
 compare the image data of the deformable sensor to a metric to generate a similarity value defining a degree of a difference between the deformable membrane in the image data and a geometry of the deformable membrane corresponding to the metric; and 
 adjust a pressure within the enclosure based on the similarity value. 
 
     
     
       9. The system of  claim 8 , wherein the deformable sensor further comprises an optical sensor disposed within the enclosure and having a field of view configured to be directed toward a bottom surface of the deformable membrane. 
     
     
       10. The system of  claim 8 , wherein:
 comparing the image data of the deformable sensor comprises determining a geometry of the deformable membrane based on the image data; and 
 the metric is satisfied when the geometry of the deformable membrane is within a threshold tolerance of an ideal geometry. 
 
     
     
       11. The system of  claim 10 , wherein:
 when the geometry of the deformable membrane is larger than the ideal geometry, of to adjust the pressure within the enclosure is performed by decreasing the pressure; and 
 when the geometry of the deformable membrane is smaller than the ideal geometry, to adjust of the pressure within the enclosure is performed by increasing the pressure. 
 
     
     
       12. The system of  claim 8 , wherein the external image sensor comprises a depth sensor. 
     
     
       13. The system of  claim 8 , wherein the comparing of the image data of the deformable sensor to the metric comprises applying an image similarity algorithm. 
     
     
       14. The system of  claim 8 , wherein the instructions further cause the processor to, using the image data, detect at least one of a type of an object, a geometry of the object and a pose of the object.